Well, I just love it.
Right now I'm working in a driver for a couple of circuits with a DAC, ADC and a encoder to connect my old Gumstix Connex to a PLC Unitronics, and two Variable speed driver Altivar ATV31.
The driver basically read through SPI the data that the ADC get from a current loop. And through SPI the resulting data is send to the drivers. The encoder work with three GPIO interrupt.
I'll try to write later on this. For now, a couple of pages that are really helpful:
http://www.linuxjournal.com/article/5833
http://tomoyo.sourceforge.jp/cgi-bin/lxr/source/
http://www.linuxgrill.com/anonymous/fire/netfilter/kernel-hacking-HOWTO-5.html
http://people.nl.linux.org/ftp/pub/anoncvs/kernelnewbies/documents/kdoc/kernel-api/adt.html#AEN475
http://docs.huihoo.com/linux/kernel/2.6.26/kernel-api/ch25.html
http://docwiki.gumstix.org/index.php/Robostix_spi.c
http://www.makelinux.net/ldd3/ (The chapters with locking techniques, procfs, and deferred work are great!!!)
http://tldp.org/LDP/lkmpg/2.6/html/x1256.html
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